Magnetic resonance imaging (MRI) is better than other imaging equipment in detecting tumors, and navigation for robotic breast intervention biopsy. However, material requirements for robots driving devices are demanding incredibly because of the environment. Given this problem, a novel double cable-conduit driving method is put forward in this paper, which can be used in MRI for breast intervention robots. Besides, lebus grooves are adopted to the driving wheels, which enable the system to realize remote-range and large-scale driving on the premise that the precision can be further enhanced. The driving characteristic of the novel cable-conduit is established. Moreover, the cable-conduit experimental data proves the results of theoretical deduction. Finally, the cable-conduit driving device is compensated, the average errors in the X, Y, and Z directions of the needle tip entering the tissue are less than 2mm. The consequence verifies that it can meet the requirements for breast biopsy robot application under MR environment.

中文翻译：

---

MRI兼容活检机器人双电缆导管驱动装置的实验研究

磁共振成像 (MRI) 在检测肿瘤和导航机器人乳房介入活检方面优于其他成像设备。然而，由于环境的原因，对机器人驱动设备的材料要求非常苛刻。针对这一问题，本文提出了一种新颖的双电缆导管驱动方法，可用于乳房介入机器人的MRI。此外，驱动轮采用勒布斯槽，使系统在进一步提高精度的前提下，可实现远程、大范围行驶。建立了新型电缆导管的驱动特性。此外，电缆导管实验数据证明了理论推导的结果。最后，对电缆导管驱动装置进行补偿，平均误差在X,是， 和Z针尖进入组织的方向小于2毫米。结果验证其能够满足MR环境下乳腺活检机器人应用的要求。